text: #!/usr/bin/env python3
  # pylint: disable=E1101
  import os
  import importlib
  import unittest
  from collections import defaultdict, Counter
  from parameterized import parameterized_class
  
  from cereal import log, car
  from common.params import Params
  from selfdrive.car.fingerprints import all_known_cars
  from selfdrive.car.car_helpers import interfaces
  from selfdrive.car.hyundai.values import CAR as HYUNDAI
  from selfdrive.test.test_routes import routes, non_tested_cars
  from selfdrive.test.openpilotci import get_url
  from tools.lib.logreader import LogReader
  
  from panda.tests.safety import libpandasafety_py
  from panda.tests.safety.common import package_can_msg
  
  PandaType = log.PandaState.PandaType
  
  NUM_JOBS = int(os.environ.get("NUM_JOBS", "1"))
  JOB_ID = int(os.environ.get("JOB_ID", "0"))
  
  ROUTES = {rt.car_fingerprint: rt.route for rt in routes}
  
  # TODO: get updated routes for these cars
  ignore_can_valid = [
    HYUNDAI.GENESIS,
  ]
  
  ignore_carstate_check = [
    # TODO: chrysler gas state in panda also checks wheel speed, refactor so it's only gas
    HYUNDAI.GENESIS,
  ]
  
  ignore_addr_checks_valid = [
    HYUNDAI.GENESIS,
  ]
  
  @parameterized_class(('car_model'), [(car,) for i, car in enumerate(sorted(all_known_cars())) if i % NUM_JOBS == JOB_ID])
  class TestCarModel(unittest.TestCase):
  
    @classmethod
    def setUpClass(cls):
      if cls.car_model not in ROUTES:
        # TODO: get routes for missing cars and remove this
        if cls.car_model in non_tested_cars:
          print(f"Skipping tests for {cls.car_model}: missing route")
          raise unittest.SkipTest
        else:
          raise Exception(f"missing test route for car {cls.car_model}")
  
      params = Params()
      params.clear_all()
  
      for seg in [2, 1, 0]:
        try:
          lr = LogReader(get_url(ROUTES[cls.car_model], seg))
        except Exception:
          continue
  
        can_msgs = []
        fingerprint = {i: dict() for i in range(3)}
        for msg in lr:
          if msg.which() == "can":
            for m in msg.can:
              if m.src < 64:
                fingerprint[m.src][m.address] = len(m.dat)
            can_msgs.append(msg)
          elif msg.which() == "carParams":
            if msg.carParams.openpilotLongitudinalControl:
              params.put_bool("DisableRadar", True)
  
        if len(can_msgs):
          break
      else:
        raise Exception("Route not found or no CAN msgs found. Is it uploaded?")
  
      cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime)
  
      cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.car_model]
      cls.CP = cls.CarInterface.get_params(cls.car_model, fingerprint, [])
      assert cls.CP
  
    def setUp(self):
      self.CI = self.CarInterface(self.CP, self.CarController, self.CarState)
      assert self.CI
  
      # TODO: check safetyModel is in release panda build
      self.safety = libpandasafety_py.libpandasafety
      set_status = self.safety.set_safety_hooks(self.CP.safetyConfigs[0].safetyModel.raw, self.CP.safetyConfigs[0].safetyParam)
      self.assertEqual(0, set_status, f"failed to set safetyModel {self.CP.safetyConfigs[0].safetyModel}")
      self.safety.init_tests()
  
    def test_car_params(self):
      if self.CP.dashcamOnly:
        self.skipTest("no need to check carParams for dashcamOnly")
  
      # make sure car params are within a valid range
      self.assertGreater(self.CP.mass, 1)
      self.assertGreater(self.CP.steerRateCost, 1e-3)
  
      if self.CP.steerControlType != car.CarParams.SteerControlType.angle:
        tuning = self.CP.lateralTuning.which()
        if tuning == 'pid':
          self.assertTrue(len(self.CP.lateralTuning.pid.kpV))
        elif tuning == 'lqr':
          self.assertTrue(len(self.CP.lateralTuning.lqr.a))
        elif tuning == 'indi':
          self.assertTrue(len(self.CP.lateralTuning.indi.outerLoopGainV))
        else:
          raise Exception("unkown tuning")
  
    def test_car_interface(self):
      # TODO: also check for checkusm and counter violations from can parser
      can_invalid_cnt = 0
      CC = car.CarControl.new_message()
      for i, msg in enumerate(self.can_msgs):
        CS = self.CI.update(CC, (msg.as_builder().to_bytes(),))
        self.CI.apply(CC)
  
        # wait 2s for low frequency msgs to be seen
        if i > 200:
          can_invalid_cnt += not CS.canValid
  
      if self.car_model not in ignore_can_valid:
        self.assertLess(can_invalid_cnt, 50)
  
    def test_radar_interface(self):
      os.environ['NO_RADAR_SLEEP'] = "1"
      RadarInterface = importlib.import_module(f'selfdrive.car.{self.CP.carName}.radar_interface').RadarInterface
      RI = RadarInterface(self.CP)
      assert RI
  
      error_cnt = 0
      for msg in self.can_msgs:
        radar_data = RI.update((msg.as_builder().to_bytes(),))
        if radar_data is not None:
          error_cnt += car.RadarData.Error.canError in radar_data.errors
      self.assertLess(error_cnt, 20)
  
    def test_panda_safety_rx_valid(self):
      if self.CP.dashcamOnly:
        self.skipTest("no need to check panda safety for dashcamOnly")
  
      start_ts = self.can_msgs[0].logMonoTime
  
      failed_addrs = Counter()
      for can in self.can_msgs:
        # update panda timer
        t = (can.logMonoTime - start_ts) / 1e3
        self.safety.set_timer(int(t))
  
        # run all msgs through the safety RX hook
        for msg in can.can:
          if msg.src >= 64:
            continue
  
          to_send = package_can_msg([msg.address, 0, msg.dat, msg.src])
          if self.safety.safety_rx_hook(to_send) != 1:
            failed_addrs[hex(msg.address)] += 1
  
        # ensure all msgs defined in the addr checks are valid
        if self.car_model not in ignore_addr_checks_valid:
          self.safety.safety_tick_current_rx_checks()
          if t > 1e6:
            self.assertTrue(self.safety.addr_checks_valid())
      self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}")
  
    def test_panda_safety_carstate(self):
      """
        Assert that panda safety matches openpilot's carState
      """
      if self.CP.dashcamOnly:
        self.skipTest("no need to check panda safety for dashcamOnly")
      if self.car_model in ignore_carstate_check:
        self.skipTest("see comments in test_models.py")
  
      checks = defaultdict(lambda: 0)
      CC = car.CarControl.new_message()
      for can in self.can_msgs:
        for msg in can.can:
          if msg.src >= 64:
            continue
          to_send = package_can_msg([msg.address, 0, msg.dat, msg.src])
          ret = self.safety.safety_rx_hook(to_send)
          self.assertEqual(1, ret, f"safety rx failed ({ret=}): {to_send}")
        CS = self.CI.update(CC, (can.as_builder().to_bytes(),))
  
        # TODO: check steering state
        # check that openpilot and panda safety agree on the car's state
        checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev()
        checks['brakePressed'] += CS.brakePressed != self.safety.get_brake_pressed_prev()
        if self.CP.pcmCruise:
          checks['controlsAllowed'] += not CS.cruiseState.enabled and self.safety.get_controls_allowed()
  
        # TODO: extend this to all cars
        if self.CP.carName == "honda":
          checks['mainOn'] += CS.cruiseState.available != self.safety.get_acc_main_on()
  
      # TODO: reduce tolerance to 0
      failed_checks = {k: v for k, v in checks.items() if v > 25}
  
      # TODO: the panda and openpilot interceptor thresholds should match
      skip_gas_check = self.CP.carName == 'chrysler'
      if "gasPressed" in failed_checks and (self.CP.enableGasInterceptor or skip_gas_check):
        if failed_checks['gasPressed'] < 150 or skip_gas_check:
          del failed_checks['gasPressed']
  
      # TODO: honda nidec: do same checks in carState and panda
      if "brakePressed" in failed_checks and self.CP.carName == 'honda' and \
        (self.car_model not in HONDA_BOSCH or self.car_model in [HONDA.CRV_HYBRID, HONDA.HONDA_E]):
        if failed_checks['brakePressed'] < 150:
          del failed_checks['brakePressed']
  
      # TODO: use the same signal in panda and carState
      # tolerate a small delay between the button press and PCM entering a cruise state
      if self.car_model == HONDA.ACCORD:
        if failed_checks['controlsAllowed'] < 500:
          del failed_checks['controlsAllowed']
  
      self.assertFalse(len(failed_checks), f"panda safety doesn't agree with CarState: {failed_checks}")
  
  if __name__ == "__main__":
    unittest.main()
  